diff --git a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
index ad80cf4457..5149c74a1c 100644
--- a/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
+++ b/gpio_controllers/include/gpio_controllers/gpio_command_controller.hpp
@@ -20,7 +20,7 @@
 #include <unordered_map>
 #include <vector>
 
-#include "control_msgs/msg/dynamic_joint_state.hpp"
+#include "control_msgs/msg/dynamic_interface_group_values.hpp"
 #include "controller_interface/controller_interface.hpp"
 #include "gpio_command_controller_parameters.hpp"
 #include "gpio_controllers/visibility_control.h"
@@ -31,8 +31,8 @@
 
 namespace gpio_controllers
 {
-using CmdType = control_msgs::msg::DynamicJointState;
-using StateType = control_msgs::msg::DynamicJointState;
+using CmdType = control_msgs::msg::DynamicInterfaceGroupValues;
+using StateType = control_msgs::msg::DynamicInterfaceGroupValues;
 using CallbackReturn = controller_interface::CallbackReturn;
 using InterfacesNames = std::vector<std::string>;
 using MapOfReferencesToCommandInterfaces = std::unordered_map<
diff --git a/gpio_controllers/package.xml b/gpio_controllers/package.xml
index 888aaef3f6..9b98746545 100644
--- a/gpio_controllers/package.xml
+++ b/gpio_controllers/package.xml
@@ -16,6 +16,7 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>control_msgs</depend>
   <depend>realtime_tools</depend>
+  <depend>generate_parameter_library</depend>
 
   <build_depend>pluginlib</build_depend>
 
diff --git a/gpio_controllers/src/gpio_command_controller.cpp b/gpio_controllers/src/gpio_command_controller.cpp
index d3989eb122..a509eae774 100644
--- a/gpio_controllers/src/gpio_command_controller.cpp
+++ b/gpio_controllers/src/gpio_command_controller.cpp
@@ -246,13 +246,13 @@ void GpioCommandController::initialize_gpio_state_msg()
 {
   auto & gpio_state_msg = realtime_gpio_state_publisher_->msg_;
   gpio_state_msg.header.stamp = get_node()->now();
-  gpio_state_msg.joint_names.resize(params_.gpios.size());
+  gpio_state_msg.interface_groups.resize(params_.gpios.size());
   gpio_state_msg.interface_values.resize(params_.gpios.size());
 
   for (std::size_t gpio_index = 0; gpio_index < params_.gpios.size(); ++gpio_index)
   {
     const auto gpio_name = params_.gpios[gpio_index];
-    gpio_state_msg.joint_names[gpio_index] = gpio_name;
+    gpio_state_msg.interface_groups[gpio_index] = gpio_name;
     gpio_state_msg.interface_values[gpio_index].interface_names =
       get_gpios_state_interfaces_names(gpio_name);
     gpio_state_msg.interface_values[gpio_index].values = std::vector<double>(
@@ -327,9 +327,9 @@ controller_interface::return_type GpioCommandController::update_gpios_commands()
   }
 
   const auto gpio_commands = *(*gpio_commands_ptr);
-  for (std::size_t gpio_index = 0; gpio_index < gpio_commands.joint_names.size(); ++gpio_index)
+  for (std::size_t gpio_index = 0; gpio_index < gpio_commands.interface_groups.size(); ++gpio_index)
   {
-    const auto & gpio_name = gpio_commands.joint_names[gpio_index];
+    const auto & gpio_name = gpio_commands.interface_groups[gpio_index];
     if (
       gpio_commands.interface_values[gpio_index].values.size() !=
       gpio_commands.interface_values[gpio_index].interface_names.size())
@@ -353,7 +353,7 @@ void GpioCommandController::apply_command(
   const CmdType & gpio_commands, std::size_t gpio_index, std::size_t command_interface_index) const
 {
   const auto full_command_interface_name =
-    gpio_commands.joint_names[gpio_index] + '/' +
+    gpio_commands.interface_groups[gpio_index] + '/' +
     gpio_commands.interface_values[gpio_index].interface_names[command_interface_index];
   try
   {
@@ -378,7 +378,8 @@ void GpioCommandController::update_gpios_states()
 
   auto & gpio_state_msg = realtime_gpio_state_publisher_->msg_;
   gpio_state_msg.header.stamp = get_node()->now();
-  for (std::size_t gpio_index = 0; gpio_index < gpio_state_msg.joint_names.size(); ++gpio_index)
+  for (std::size_t gpio_index = 0; gpio_index < gpio_state_msg.interface_groups.size();
+       ++gpio_index)
   {
     for (std::size_t interface_index = 0;
          interface_index < gpio_state_msg.interface_values[gpio_index].interface_names.size();
@@ -394,7 +395,7 @@ void GpioCommandController::apply_state_value(
   StateType & state_msg, std::size_t gpio_index, std::size_t interface_index) const
 {
   const auto interface_name =
-    state_msg.joint_names[gpio_index] + '/' +
+    state_msg.interface_groups[gpio_index] + '/' +
     state_msg.interface_values[gpio_index].interface_names[interface_index];
   try
   {
diff --git a/gpio_controllers/test/test_gpio_command_controller.cpp b/gpio_controllers/test/test_gpio_command_controller.cpp
index 49b68e42b1..ec0e0f1228 100644
--- a/gpio_controllers/test/test_gpio_command_controller.cpp
+++ b/gpio_controllers/test/test_gpio_command_controller.cpp
@@ -15,6 +15,7 @@
 #include <string>
 #include <vector>
 
+#include "control_msgs/msg/dynamic_interface_group_values.hpp"
 #include "gmock/gmock.h"
 #include "gpio_controllers/gpio_command_controller.hpp"
 #include "hardware_interface/handle.hpp"
@@ -48,8 +49,8 @@ const auto minimal_robot_urdf_with_gpio = std::string(ros2_control_test_assets::
 using CallbackReturn = controller_interface::CallbackReturn;
 using hardware_interface::LoanedCommandInterface;
 using hardware_interface::LoanedStateInterface;
-using CmdType = control_msgs::msg::DynamicJointState;
-using StateType = control_msgs::msg::DynamicJointState;
+using CmdType = control_msgs::msg::DynamicInterfaceGroupValues;
+using StateType = control_msgs::msg::DynamicInterfaceGroupValues;
 using hardware_interface::CommandInterface;
 using hardware_interface::StateInterface;
 
@@ -146,7 +147,7 @@ class GpioCommandControllerTestSuite : public ::testing::Test
     const std::vector<control_msgs::msg::InterfaceValue> & interface_values)
   {
     CmdType command;
-    command.joint_names = gpios_names;
+    command.interface_groups = gpios_names;
     command.interface_values = interface_values;
     return command;
   }
@@ -602,9 +603,9 @@ TEST_F(GpioCommandControllerTestSuite, ControllerShouldPublishGpioStatesWithCurr
   rclcpp::MessageInfo msg_info;
   ASSERT_TRUE(subscription->take(gpio_state_msg, msg_info));
 
-  ASSERT_EQ(gpio_state_msg.joint_names.size(), gpio_names.size());
-  ASSERT_EQ(gpio_state_msg.joint_names.at(0), "gpio1");
-  ASSERT_EQ(gpio_state_msg.joint_names.at(1), "gpio2");
+  ASSERT_EQ(gpio_state_msg.interface_groups.size(), gpio_names.size());
+  ASSERT_EQ(gpio_state_msg.interface_groups.at(0), "gpio1");
+  ASSERT_EQ(gpio_state_msg.interface_groups.at(1), "gpio2");
   ASSERT_EQ(gpio_state_msg.interface_values.at(0).interface_names.at(0), "dig.1");
   ASSERT_EQ(gpio_state_msg.interface_values.at(0).interface_names.at(1), "dig.2");
   ASSERT_EQ(gpio_state_msg.interface_values.at(1).interface_names.at(0), "ana.1");
@@ -646,8 +647,8 @@ TEST_F(
   rclcpp::MessageInfo msg_info;
   ASSERT_TRUE(subscription->take(gpio_state_msg, msg_info));
 
-  ASSERT_EQ(gpio_state_msg.joint_names.size(), single_gpio.size());
-  ASSERT_EQ(gpio_state_msg.joint_names.at(0), "gpio1");
+  ASSERT_EQ(gpio_state_msg.interface_groups.size(), single_gpio.size());
+  ASSERT_EQ(gpio_state_msg.interface_groups.at(0), "gpio1");
   ASSERT_EQ(gpio_state_msg.interface_values.at(0).interface_names.at(0), "dig.1");
   ASSERT_EQ(gpio_state_msg.interface_values.at(0).values.at(0), 1.0);
 }
@@ -682,9 +683,9 @@ TEST_F(
   rclcpp::MessageInfo msg_info;
   ASSERT_TRUE(subscription->take(gpio_state_msg, msg_info));
 
-  ASSERT_EQ(gpio_state_msg.joint_names.size(), gpio_names.size());
-  ASSERT_EQ(gpio_state_msg.joint_names.at(0), "gpio1");
-  ASSERT_EQ(gpio_state_msg.joint_names.at(1), "gpio2");
+  ASSERT_EQ(gpio_state_msg.interface_groups.size(), gpio_names.size());
+  ASSERT_EQ(gpio_state_msg.interface_groups.at(0), "gpio1");
+  ASSERT_EQ(gpio_state_msg.interface_groups.at(1), "gpio2");
   ASSERT_EQ(gpio_state_msg.interface_values.at(0).interface_names.at(0), "dig.1");
   ASSERT_EQ(gpio_state_msg.interface_values.at(1).interface_names.at(0), "ana.1");
   ASSERT_EQ(gpio_state_msg.interface_values.at(0).values.at(0), 1.0);